A robust adaptive controller that consists of a well-known PI controller and a robust frequency estimation in parallel was presented to cancel unknown sinusoidal disturbance in a stable linear time invariant system. The convergence of frequency estimation, the accurate cancellation of disturbance and the asymptotic stability of the overall feedback control system are analyzed by slow integral manifold and averaging method. The key advantages include asymptotically convergent cancellation for disturbance with much low frequency, the asymptotic stability of the whole error feedback system independent to the parameters of the plant and robust applicability in engineering. Simulation results validate the transient convergence performance and the steady-state anti-noise performance as well as the action of parameters of the proposed algorithm.

中文翻译：

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未知正弦扰动的鲁棒自适应消除

提出了一种鲁棒自适应控制器，该控制器由众所周知的 PI 控制器和鲁棒频率估计并行组成，用于消除稳定线性时不变系统中的未知正弦扰动。采用慢积分流形和平均法分析了频率估计的收敛性、扰动的准确消除和整个反馈控制系统的渐近稳定性。主要优点包括对低频干扰的渐近收敛消除、独立于设备参数的整个误差反馈系统的渐近稳定性以及工程中的稳健适用性。仿真结果验证了该算法的瞬态收敛性能和稳态抗噪性能以及参数的作用。